WO2020053096A1 - Commande d'éoliennes en présence d'implications de sillage - Google Patents

Commande d'éoliennes en présence d'implications de sillage Download PDF

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Publication number
WO2020053096A1
WO2020053096A1 PCT/EP2019/073860 EP2019073860W WO2020053096A1 WO 2020053096 A1 WO2020053096 A1 WO 2020053096A1 EP 2019073860 W EP2019073860 W EP 2019073860W WO 2020053096 A1 WO2020053096 A1 WO 2020053096A1
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WO
WIPO (PCT)
Prior art keywords
wind
yaw
wind turbine
angle
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/073860
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English (en)
Inventor
Per Egedal
Pieter M. O. Gebraad
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Gamesa Renewable Energy AS
Original Assignee
Siemens Gamesa Renewable Energy AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Gamesa Renewable Energy AS filed Critical Siemens Gamesa Renewable Energy AS
Priority to US17/273,380 priority Critical patent/US11668279B2/en
Priority to EP19778807.8A priority patent/EP3827167B1/fr
Priority to CN201980074066.6A priority patent/CN112955652A/zh
Priority to DK19778807.8T priority patent/DK3827167T3/da
Priority to KR1020217010378A priority patent/KR20210054568A/ko
Priority to BR112021003782-9A priority patent/BR112021003782A2/pt
Publication of WO2020053096A1 publication Critical patent/WO2020053096A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/048—Automatic control; Regulation by means of an electrical or electronic controller controlling wind farms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/20—Purpose of the control system to optimise the performance of a machine
    • F05B2270/204—Purpose of the control system to optimise the performance of a machine taking into account the wake effect
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/321—Wind directions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/329—Azimuth or yaw angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a method and to a wind park controller for controlling at least one wind turbine in a wind park comprising plural wind turbines and relates further to a wind park comprising the wind park controller.
  • a wind park comprises a plurality of wind turbines. Some wind turbines are located downstream of other wind turbines, de pending on a current wind direction.
  • the upstream wind tur bines may reduce the wind speed and wind energy experienced by the downstream wind turbines. At the downstream wind tur bines also a turbulence of the wind may increase.
  • a wind shadow region downstream or behind an upstream wind turbine may also be referred to as a wake region, or simply wake, of that upstream wind turbine.
  • optimised blade pitch, rotor speed, pow er production set-points, rotor tilt and/or yaw offsets or other control settings on the wind turbines can be used.
  • the upstream wind turbine may adapt its control settings to reduce wake-induced loads or to optimise total production of the wind farm.
  • optimised settings are most commonly based on wind farm models that assume knowledge of the wind conditions coming into the wind farm and the layout of the wind farm.
  • the optimisation settings are based on the situations when all wind turbines are in operation.
  • upstream turbines will be identified that may have an impact on other downstream wind turbines and the respective upstream turbines are controlled.
  • One control action may be setting the yaw angle of the up stream wind turbine.
  • yaw misalign ment angle is used to refer to a current yaw state of the wind turbine, wherein such an angle is defined as an angle between a rotating axis of a rotation shaft of the wind tur bine and a current wind direction upstream of that wind tur bine.
  • yaw offset or "yaw offset setpoint” is used to refer to a control setting which should be met by the yaw misalignment angle when a control action is performed.
  • positive yaw angles will be used in the document for angles defining a clockwise diversion of the turbine rotor axis from the main wind direction as seen from above the turbine.
  • Negative yaw angles will be used in the document for angles defining a counterclockwise diversion of the turbine rotor axis from the main wind direction as seen from above the turbine. Absolute values of these positive and negative yaw angles increase when the rotor orientation de parts further from an alignment of the turbine rotor axis and the main wind direction, wherein a perfect alignment of the turbine rotor axis and the main wind direction is represented by yaw angle of 0 degree.
  • the method which will later be discussed in this document however also allows for alterna tive definitions where counterclockwise rotation is regarded positive yaw angle and clockwise rotation is regarded nega tive yaw angle.
  • an upstream turbine may have a specific yaw angle setting and a change of wind condition may result in a control action such that the yaw position is drastically changed, e.g. a repositioning from a higher value positive yaw angle to a higher value negative yaw angle.
  • a repositioning from a higher value positive yaw angle to a higher value negative yaw angle e.g. a repositioning from a higher value positive yaw angle to a higher value negative yaw angle.
  • the present invention seeks to address these problems and mitigate related drawbacks.
  • a method for controlling a first wind turbine of a plurality of wind turbines of a wind park wherein a second wind turbine of the plurality of wind turbines can be affected by a wake region caused by the first wind turbine which is positioned upstream of the second wind turbine, wherein a rotor yaw offset angle set point for the first wind turbine is defined to follow a hysteresis characteristic.
  • a switch from a range of positive yaw offset angles to negative yaw offset angles may be prevented if shortly before a switch from a range of negative yaw offset angles to positive yaw offset angles has just occurred, and the other way around.
  • the hysteresis characteristic is applied such that thereby immediate consecutive switching be tween a range of positive yaw offset angles and negative yaw offset angles is avoided, i.e. prohibited or prevented.
  • Zero offset angle would mean that the rotor is perfectly aligned into the main wind direction.
  • "Positive” offset an gles are understood as a yawing rotation of the rotor, start ing from zero offset angle, in clockwise direction.
  • “Nega tive” offset angles are understood as a yawing rotation of the rotor, starting from zero offset angle, in counterclock wise direction.
  • a reyawing procedure is un- derstood, in which a rotor executed a major repositioning in angles - for example a more than 10 degree change - and in which a rotor will be realigned either (a) starting in the region of positive angles and ending in the region of nega tive angles, or (b) starting in the region of negative angles and ending in the region of positive angles.
  • the invention is directed to a method for controlling a first wind turbine of a plurality of wind tur bines of a wind park, wherein a second wind turbine of the plurality of wind turbines can be affected by a wake region caused by the first wind turbine which is positioned upstream of the second wind turbine, the method comprising the steps of :
  • the actual rotor yaw mis-alignment angle is defined as an angle between a rotating axis of a rotor of the first wind tur bine and a current wind direction at the first wind turbine, b) an identifier representing whether the actual ro tor yaw misalignment angle is either in a range of positive yaw misalignment angles or alternatively of negative yaw misalignment angles;
  • the level of wake inducement is at least represented by a distance between locations of the first wind turbine and the second wind turbine and/or by the current wind direction at the first wind turbine;
  • the steps may preferably be executed in the order as defined above .
  • the current yaw state either the exact angle value of the current yaw position of the first wind turbine, i.e. the actual rotor yaw misalignment angle.
  • the determined current yaw state may represent the exact yaw position which is caused by a wind direction experienced dur ing a previous yaw control cycle, assuming the control is performed in cycles.
  • the current yaw state is merely an identifier - a binary identifier with two possible values - which defines whether the current yaw position is either in the range of positive yaw misalignment angles or alternatively in the range of neg ative yaw misalignment angles.
  • Such an identifier may be suf ficient to define the context of the control.
  • the current wind direction may be determined by a single measurement, e.g. using LIDAR (light detection and ranging).
  • LIDAR light detection and ranging
  • multiple measurement may be performed from which the wind di rection may be inferred.
  • the current wind direction at a wind turbine may be a value that represents the wind direction at a height from ground of the rotor, as if that wind turbine would not be present.
  • the current wind direction represents the wind direction shortly upstream of the wind turbine, as it will hit the rotor.
  • the wind direction may be processed in sensors and/or the control unit as a vector or as a matrix to define an orienta tion of the wind.
  • the wind direction may be defined as a direction from which wind is blowing but the method allows also to use a definition that the wind direction is a direction towards the wind is flow ing, which is typically also referred to as wind vector.
  • the level of wake inducement may be represented by power loss on the downstream second wind turbine.
  • the level of wake inducement is an indicator how much the second wind turbine is impacted by the wake of the first tur bine.
  • Several values may be able to be used as level of wake inducement.
  • One option for the level of wake inducement is to determine a distance between locations of the first wind tur bine and the second wind turbine. By that it can be deter mined whether and how much the upstream first wind turbine affects the downstream second wind turbine, or whether the wake impact on the second wind turbine can be disregarded. In a variation of this option not only the distance between up stream and downstream wind turbines is evaluated but also a cross-stream distance may be considered to determine the lev el of wake inducement.
  • the wake overlap may be considered in the level of wake inducement.
  • the downstream and especially cross-stream distances change as the wind direction changes.
  • Another option for the level of wake inducement may be to calculate a percentage of the rotor area which is affected by the wake compared to an overall ro tor area. This would clearly indicate how strong the second wind turbine is affected by the wake.
  • the level of wake inducement is represented by more than one physical value, e.g. by a pair of wind direc tion and the distance between locations of the first wind turbine and the second wind turbine.
  • a direct determination or measure ment of the level of wake inducement during operation of the present control method may not be performed.
  • the level of wake inducement may be considered in a configuration step us ing models that are used to define beforehand controller look-up tables that will later be used while the method is executed .
  • the level of wake inducement may merely be represented by the distance be tween locations of the first wind turbine and the second wind turbine, as closely positioned wind turbines will affect an other with a higher wake impact than more distant ones.
  • the rotor yaw offset angle set point for the first wind tur bine represents the target value for the yaw position, which should be reached when a yaw control cycle is finished.
  • the term of the "at least one yaw angle hysteresis switching threshold” may be simplified in the following also as “the hysteresis threshold”. If more than one yaw angle hysteresis switching threshold shall be discussed, then the term “the hysteresis thresholds", in plural, is used.
  • the hysteresis threshold - preferably a pair of two thresh olds are defined for a given wind direction - defines a switching level of the hysteresis, i.e. of the hysteresis curve .
  • the hysteresis threshold may be a pre-defined value or may be calculated based on the current wind direction.
  • the rotor yaw offset angle set point may be based on wind speed, wind turbulence and/or other conditions affecting the wake.
  • Some of the input parameters for the rotor yaw offset angle set point may also depend on the actual wind direction. This applies particularly for the selection of a relevant one of the at least one yaw angle hysteresis switching threshold.
  • the present invention considers an effect called wake deflec tion.
  • the wake is a zone created by a wind turbine in which downstream wind speed is reduced caused by the extraction of kinetic energy from the wind. As the flow proceeds down stream, there is a spreading or dispersion of the wake and the wake eventually recovers towards free stream conditions.
  • the wake of several upstream wind turbines may even be con sidered for operation of a single downstream turbine, which may again be considered to be upstream of further turbines in the wind park. According to the invention particularly wake effects from neighbouring wind turbines are considered.
  • wake deflection refers to an effect in which a wake may not appear symmetrically behind an upstream wind turbine in case of a yaw misalignment of that wind turbine but is dis- placed or even curved in one direction.
  • the yaw misalignment angle may have an impact on a level of displacement or curva ture. That means that a downstream wind turbine that that is positioned directly behind an upstream wind turbine may only be affected partly by the wake induced by the upstream wind turbine if a yaw misalignment is used for the upstream tur bine to create a wake deflection.
  • the at least one yaw angle hysteresis switching threshold - defining a point at which a yaw angle is not only homogeneously increased but substantially re versed between positive and negative yaw angles - and to de fine the rotor yaw offset angle set point for the first wind turbine to follow the hysteresis is particularly advantageous as this prevents rapidly repeating transitions between posi tive and negative reference yaw angles which otherwise could occur.
  • the yaw angle hysteresis switching threshold may de fine a trigger at which a transition between positive and negative yaw angles will be triggered for the rotor yaw off set angle set point but at the same time, as long as the yaw angle hysteresis switching threshold is not met or exceeded, the rotor yaw offset angle set point may be controlled to on ly execute minor angle adjustments, e.g. less than 5° or even less than 2° between the rotor yaw offset angle set point and the actual rotor yaw misalignment angle.
  • the curve will be continuous until the yaw angle hysteresis switching threshold is reached by the current wind direction angle, at which a discontinuous inversion of the actual rotor yaw misalignment angle will take place, such that the curve is interrupted and jumps - as an example - from previous pos itive rotor yaw misalignment angles to negative ones.
  • a sec ond yaw angle hysteresis switching threshold may also be de- fined such that there will be a jump from previous negative rotor yaw misalignment angles to positive ones. Obviously in case of a pair yaw angle hysteresis switching thresholds, these should have different values to create the hysteresis effect .
  • the yaw angle hysteresis switching threshold is defined by a threshold value for the wind direc tion angle, particularly the wind direction at the first wind turbine.
  • the yaw angle hysteresis switching thresh old could also be based on another parameter, preferably as long as the other parameter reflects the wind direction and/or the distance to an upstream wind turbine that creates a wake.
  • the hysteresis threshold may be a pre-configured value or may be determined in a method step based on input parame ters, particularly wind directions and/or distance between wind turbines.
  • the hysteresis threshold may also be deter mined based on the level of wake inducement. By this, the hysteresis threshold defines a value at which the level of wake inducement is increased above acceptable limits.
  • the plurality of at least one yaw angle hys teresis switching threshold may be pre-configured, determined by setting these values to a preconfigured acceptable level of wake inducement for each wind direction range to consider.
  • the acceptable level of wake inducement defines a range in which an inversion of yawing position would not be required as the level of wake inducement would still be in a suitable range .
  • the hysteresis thresholds can be calculated for each turbine in the wind farm for each wind direction range to consider and can be integrated into yaw offset lookup tables.
  • a specific wind turbine may have sev eral neighbouring wind turbines having an influence on the specific wind turbine.
  • yaw angle hysteresis switching thresholds preferably for each downstream wind turbine that can possibly be affected by a wake effect of a given upstream wind turbine, a pair of yaw angle hysteresis switching thresholds should be defined for that given up stream wind turbine.
  • the explained method defined as a basis an upstream first wind turbine and a downstream second wind turbine. With a change of wind direction different pairs of wind turbines may affect another by wake, so different pairs of wind turbines may be selected for the method.
  • the at least one yaw angle hysteresis switching threshold may be determined - preferably selected from pre-configured set of values - based on the current wind condition, particularly a current wind direc tion, or on the level of wake inducement at the second wind turbine caused at least by the first wind turbine Furthermore the at least one yaw angle hysteresis switching threshold may be determined based on an angular distance value, wherein preferably the angular distance value corresponds to a lag for the at least one yaw angle hysteresis switching threshold lagging behind a local optimum for possible yaw angle values for the first wind turbine.
  • This optimal switching value is a local optimum for the rotor yaw offset angle set point. According to an embodiment of the in- vention this local optimum is not used to trigger an inver sion of the orientation of the yaw angle but there will be a lag or delay such that only further angular change will trig ger this inversion.
  • this "lag” is an angular delta value - an angular lag - but may result in consequence in a time lag until the inversion of the orientation of the yaw angle will be triggered.
  • a hysteresis characteristic can be followed for the rotor yaw offset angle set point.
  • the wind condition may be an input parameter to one or several of the previously dis cussed parameters.
  • the determining of the level of wake inducement at the second wind turbine may be based on a current wind condition.
  • the defining of a rotor yaw offset angle set point for the first wind turbine may also be based on the current wind condition.
  • the hysteresis threshold may be based on the current wind condition.
  • One main wind condition is the current wind direction which is present at a given point in time. So as an example, the level of wake inducement may be preferably a function of the present wind direction.
  • the current wind condition may be represented by at least one of the following parameters: As already said, it may be represented by a current wind direction, preferably determined at or for the location of the first wind turbine. Second, it may be represented by a current wind speed, pref erably determined at or for the location of the first wind turbine, at or for the location of the second wind turbine or any other representative position. Third, it may be repre sented by a current wind turbulence, preferably determined at or for the location of the second wind turbine.
  • a current wake deflection as a misa lignment of the wake compared to a wake induced by the first wind turbine with a yaw misalignment angle of zero, prefera bly determined at or for the location of the second wind tur bine or in a region between the first wind turbine and the second wind turbine.
  • a direct measurement "at” a specific loca tion may not be possible, but a wind condition can at least be derived "for" a specific location based on measurements at one or several locations or derived from other measurements which correspond to the to be determined wind condition.
  • the wind condition may also be a mean value, e.g. an average wind speed for a given - fairly short - time span that was occurring prior to the present moment in time or a mean value for the wind direction may be calculated over such a time span .
  • a mean value e.g. an average wind speed for a given - fairly short - time span that was occurring prior to the present moment in time or a mean value for the wind direction may be calculated over such a time span .
  • the step of defining a rotor yaw offset angle set point may be performed such that the yaw angle hys teresis switching threshold defines a switching limit of the hysteresis for the rotor yaw offset angle set point.
  • the switching limit may be a specific wind direction angle value and the control method may be performed such that the rotor yaw offset angle set point will be changed between positive and negative angles once this switching limit is reached or exceeded by the present wind direction angle value.
  • the step of defining a rotor yaw offset angle set point may be performed such that for rotor yaw off set angle set points or for wind directions in a range be tween two of the yaw angle hysteresis switching thresholds an increased level of wake inducement will not trigger switching between a positive and a negative rotor yaw offset angle set point.
  • This allows to select two hysteresis thresholds in a way that a switch between positive and negative yaw angles will only take place if the wind direction has changed sub stantially, while a minor reverse change of a wind direction will not directly trigger another switch between positive and negative yaw angles. This should reduce the number of major repositionings and only if the wind direction changes consid erably, another switch between positive and negative yaw an gles will be initiated.
  • the step of defining the rotor yaw offset angle set point may comprise substeps of switching an actual rotor yaw misalign ment angle with a positive angle to a negative angle if a first one of the at least one yaw angle hysteresis switching threshold is reached or exceeded, and switching an actual ro tor yaw misalignment angle with negative angle to a positive angle if a second one of the at least one yaw angle hystere sis switching threshold is reached or exceeded.
  • the at least one yaw angle hysteresis switching threshold may define at least a first hysteresis limit for the rotor yaw offset angle set point or the wind direction such that the rotor yaw offset angle set point (a) is limited to an incremental angle difference in case the ro tor yaw offset angle set point or the wind direction is below the first hysteresis limit and (b) is switched between posi tive and negative angle thereby reversing a rotor yaw misa lignment angle in case the rotor yaw offset angle set point or the wind direction reaches or would exceed the first hys teresis limit.
  • a limit can mean that a value (including considering its algebraic sign) may be below a limit or that only absolute values are compared. That means an angle of -10° may still be considered to be below a limit of -15° (even though, when considering the signs, -10° would be greater than -15°) . If the first hysteresis limit may define a switch from posi tive to negative angles, then a second hysteresis limit can be defined for the opposite behaviour to switch from negative to positive angles.
  • the hysteresis threshold may be de fined as a plurality of pairs of yaw angle hysteresis switch ing thresholds, wherein each pair is selected for a specific wind condition or a specific range of wind conditions.
  • the first wind turbine can create wake in all kinds of directions but may affect a number of X different other downstream turbines (as an example X may be 3) . So any one of the X downstream turbines can be considered to be downstream the "second wind turbine" as introduced before.
  • the hysteresis lim its could be for example defined with a width of 6°, so the hysteresis characteristic could be defined as pairs of angles of [12°, 18 ° ] , and [57°,63°], and [147°, 153°] defining three regions of hysteresis for three specific wind direction rang es. That means, for a continuously clockwise turning wind di rection, a switch between positive and negative angles may occur at 18°, 63° and 153°. For a continuously counterclock wise turning wind direction, a switch between negative and positive angles may occur at 147°, 57° and 12°.
  • a further method step may be defined as to activate a yaw actu- ator, preferably a step motor, of the first wind turbine for yawing the first wind turbine until the rotor yaw offset an gle set point is reached.
  • the method may further comprise the steps of (i) determining, based on the current wind condition, in particular a current wind direction, a pair of wind turbines of the wind park wherein a downstream wind turbine of the pair of wind tur bines is or can be affected by a wake region caused by an up stream wind turbine of the pair of wind turbines, (ii) se lecting the upstream wind turbine of the pair of wind tur bines as the first wind turbine, and (iii) selecting the downstream wind turbine of the pair of wind turbines as the second wind turbine.
  • the distance between locations of the first wind turbine and the second wind turbine may be calcu lated based on positioning coordinates of the first and sec ond wind turbine.
  • the coordinates of all wind tur bines of the wind park may be configured and stored in a da tabase or a lookup table.
  • the distances and alignment angles between neighbouring wind turbines may also be stored in a database or a lookup table.
  • the step of defining the rotor yaw offset angle set point for the first wind turbine may be per formed by at least accessing a pre-configured look-up-table, wherein accessing the look-up-table returns the rotor yaw offset angle set point.
  • the look-up table for a determined pair of wind turbines may be a function of at least the wind direction and returns the rotor yaw offset an gle set point.
  • Further input parameters may be wind speed, wind turbulence, or other parameters. Even though the term "function" is used, the look-up-table may not be a mathemati cal function but a matrix.
  • the invention is further directed to a wind park controller performing the above-mentioned method steps.
  • the invention is also directed to a wind park comprising a plurality of wind turbines and such a wind park controller .
  • Such wake steering can be defined as a controlling of de flecting the wake to reduce wake impact on downstream tur bines.
  • the mentioned wake steering may allow increased power production of the wind park by reducing wake losses, i.e. reduction of power experienced by down stream wind turbines due to wake of upstream turbine (s) .
  • FIG. 1 shows schematically a wake created by a wind tur bine rotor as seen from the above;
  • FIG. 2 illustrates ranges of positive and negative yaw an gles how it will be used throughout this text
  • FIG. 3 illustrates wake deflection induced by an upstream wind turbine using a yaw offset for a given wind direction
  • FIG. 4 illustrates the behaviour of control method accord ing to the invention and the created wake when the wind direction changes
  • FIG. 5 illustrates the behaviour of control method accord ing to the invention and the created wake when the wind direction continues to change
  • FIG. 6 shows schematically how to identify pairs of wind turbines that cause a wake effect on another
  • FIG. 7 shows a graph of a prior art behaviour of yaw angle control
  • FIG. shows an exemplary graph of a behaviour of yaw an gle control according to the invention
  • FIG. 9 illustrates the wind park control topology
  • FIG. 10 abstractly illustrates a wind park controller and its configuration with a look-up-table ;
  • FIG. 11 shows a further exemplary graph of a behaviour of yaw angle control according to the invention.
  • FIG. 1 schematically a wake created by a wind turbine ro tor is shown, as seen from the above. That means the direc tion of view is defined as seen from the air above the wind turbines onto a ground or a water surface on or above which a wind turbine is erected. This is also true for the further FIG. 2-6.
  • FIG. 1 and also the further figures a wind park 1 is ab stractly shown, at least with a first wind turbine 2 and a second turbine 3.
  • the wind park generally comprises further wind turbines which are not shown in FIG. 1.
  • the first wind turbine 2 is shown quite abstractly with a ro tor 22 - depicted just as a straight line from top defining an area 64 which is traversed or covered by rotor blades when in rotation. Further element of the abstract depiction of the wind turbine is a hub 62 and a nacelle 67.
  • the hub 62 and the nacelle 67 rest on a tower - not shown in FIG. 1 - and are oriented into the wind that during operation the hub 62 is directed into the wind and the nacelle 67 is downstream in respect of a current wind direction 23 and as seen in rela tion to the rotor 22.
  • the current wind direction 23 is the wind direction at a specific point in time at which a control method is performed and is identified by arrows, at least when discussed for a wind turbine which is affected by a sub- stantially homogeneous wind.
  • the arrow indicates the direction in which the wind is blow ing (i.e. the wind vector), but meteorologically a "wind di rection" may be represented by the direction from where the wind is coming.
  • the wind di rection may be represented by the direction from where the wind is coming.
  • a rotating axis 21 of the wind turbine (s) is identified by a broken line.
  • the rotating axis 21 is perpendicular to the orientation of the rotor 22, i.e. the orientation of the ro tor blades.
  • the first wind turbine 2 is considered upstream of the second wind turbine 3 for the shown wind direction 23 from left to right.
  • a distance 31 between locations of the first wind turbine 2 and the second wind turbine 3 can be de termined as the shortest distance between towers of the pair of wind turbines.
  • the upstream first wind turbine 2 may create a wake, which is identified as wake region 10.
  • the wake region 10 is a region of increased turbulence and is a region downstream of the first wind turbine 2.
  • the wake region 10 may be approximately symmetric to the rotational axis 21 if the rotational axis 21 is aligned to the wind direction 23.
  • the wake region 10 ex pands along the distance 31 but may also lose its negative impact so that at some distance the wake can be considered to have disappeared and that the wind direction 23 and a wind speed is again approximately uniform. Contrary to that the downstream second wind turbine 3 is considered to be located in the wake region 10 of the upstream first wind turbine 1.
  • the impact of the wake is identified by reference numeral 30, which refers to a part of the area 64 - area 64 identifies the overall area which is covered by the rotating blades - which is affected by the wake.
  • Element with reference numeral 30 can be considered to be a level of wake inducement 30, at it represents the impact of the wake on the downstream second wind turbine 3.
  • FIG. 1 shows only the known effect of wake impact within a wind park 1 with a plurality of wind turbines, when focusing on a subset of two wind turbines.
  • FIG. 2 Some further terminology is introduced.
  • the two drawings of FIG. 2 represent show yawing of the first wind turbine 2.
  • An actual rotor yaw misalignment angle 20 is iden tified as an angle between the rotating axis 21 of the first wind turbine 2 and the wind direction 23 which is directed onto the first wind turbine 2.
  • the first drawing of FIG. 2 represents a range of positive yaw misalignment angles 25. Such positive angles 25 are all angles that show a clockwise misalignment of the wind turbine as seen from above in re spect of the incoming wind direction 23. So positive values for the yaw misalignment angles 25 are between 0° and +90°.
  • the second drawing of FIG. 2 represents a range of negative yaw misalignment angles 24. Such negative angles 24 are all angles that show a counterclockwise misalignment of the wind turbine as seen from above. So negative values for the yaw misalignment angles 25 are between 0° and -90°.
  • the current yaw misalignment of a current situation can be represented just by two states, the current yaw states, either the present yaw misalignment is in the range of positive yaw misalignment (shown in the figure by a "+" identifier) or the present yaw misalignment is in the range of negative yaw misalignment (shown in the figure by a identifier) .
  • FIG. 3 illustrates wake deflection induced by an upstream first wind turbine 2 for the given wind direction 23.
  • the first wind turbine 2 could be per fectly directed into the wind, i.e. the rotating axis 21 could be in parallel to the wind direction 23.
  • the shown an gle 40 would then be zero.
  • a wake would occur that would have a ma jor impact onto the rotor of the downstream second wind tur bine 3. So for the depicted wind direction 23 the second wind turbine 3 would be clearly affected by the wake of the up stream first wind turbine 2.
  • this wake impact can be reduced if the first wind turbine 2 is put in a yaw position in the range of negative angles.
  • a rotor yaw offset angle set point 40 is defined which indicates to the target position for the yawing of the first wind turbine 2.
  • the created wake changes its shape which is called wake deflection 35.
  • the upstream turbine de flects the wake - in this case to the right when seen from above - so that the wake overlap with the rotor area of the downstream turbine is reduced. In the exemplary figure only a small region of the wake is affecting the rotor area. This reduces wake-induced loads on the downstream second turbine 3 and allows improved power production compared to an un-yawed upstream turbine.
  • FIG. 3 also a further wind turbine 4 is shown, which is not affected by the first wind turbine 2 or the second wind turbine 3. Assuming that the further wind turbine 4 is also not in the wake of another wind turbine of the wind park 1, it is aligned into the wind with a yaw angle of 0°.
  • FIG. 4 illustrates the behaviour of control method according to the invention and the created wake when the wind direction changes.
  • the situation of FIG. 4 is a situation that can occur some time after the previous position as shown in FIG. 3.
  • the previous wind direction and the previous yaw position from FIG. 3 are shown as dashed lined in FIG . 4.
  • the current direction 23 changes in a way, that the wake region 10 of the first wind turbine 2 would again more strongly affect the downstream second wind turbine 3.
  • the absolute yaw position of the rotor will al so turn in the same direction.
  • the relative yaw misalignment angle, relative to the wind direction 23 may not necessarily change, though. Due to the turning wind, incremental changes of the rotor position may result in a negative impact on the level of wake inducement, which can be seen in FIG. 4 as the wake region 10 covers most of the rotor blade area.
  • the yaw misalign ment angle 40 continues to be in the range of negative rotor yaw angles.
  • the second wind turbine 3 may also realign in orientation due to the change of the main wind direction (as shown in FIG.
  • the further wind turbine 4 may simply change orientation based on the new wind direction 23 at the location of the further wind turbine 4. According to the transition from FIG. 3 to FIG. 4 one further element of an inventive control method can be seen.
  • the rotor yaw offset angle set point 40 will be changed incrementally - e.g. by changing the orientation in steps of 1° - as long as a specific upper limit is reached, i.e. if a yaw angle hyste resis switching threshold (or simply "hysteresis threshold”) is reached or exceeded.
  • FIG. 5 now illustrates the behaviour of the control method according to the invention when such a hysteresis threshold is reached.
  • FIG. 5 further illustrates the created wake when the wind direction continues to change, wherein FIG. 4 is the starting situation.
  • the rotor yaw offset angle set point 40 for the first wind turbine 2 follows a hysteresis.
  • the setting of the rotor yaw offset angle set point 40 is based on the current yaw state, the wind condition, and at least one yaw angle hysteresis switching threshold.
  • the level of wake inducement 30 may have been used to pre-define proper yaw angle hysteresis switching thresholds.
  • the current yaw state in FIG. 4 was in the range of negative angles.
  • the lev el of wake inducement 30 was at a high level, e.g. 70% of the rotor area was affected by the wake region 10.
  • the yaw angle hysteresis switching threshold may be reached which triggers a specific procedure.
  • substantial reposition action 41 takes place in which a switch from negative yaw angles to positive yaw an gles take place.
  • the algebraic sign is changed the new value with changed algebraic sign will be taken as a new rotor yaw offset angle set point 40.
  • the previous wake region is also flipped over creating a wake deflection with opposite orientation, as shown in FIG. 5.
  • the rotor ar ea is only partly affected by the wake region 10.
  • the pair of wind turbines 2 and 3 had an impact to another. If the wind direction may change more drastically (e.g. the wind from the left in the figure will change to a wind from the top) it can happen, that the wake of the wind turbine 2 has no impact anymore to the wind turbine 3. But on the other hand the wind turbine 3 may have an impact to the further wind turbine 4. This is illustrated in FIG. 6. Thus, the wind turbine 3 can be considered to be now the up stream wind turbine and the wind turbine 4 can be considered to be the downstream wind turbine. Then the same logic as be fore can be applied, so the upstream wind turbine will need to perform the previously explained control logic for the first wind turbine (previously identified as "2") and is therefore identified as upstream wind turbine 2'. The down stream wind turbine takes now the position of the second wind turbine (previously identified as "3") and is therefore iden tified as downstream wind turbine 3' .
  • a posi tive yaw misalignment angle is applied to divert the wake re gion 10 from the rotor blade area of the downstream wind tur bine 3' .
  • the relevant set of turbines can be derived from the distance to another, the orientation to another, and the present wind direction. Based on that the pair of turbines can be selected for which the upstream turbine may be triggered to yaw to gain a wake deflection .
  • FIG. 7 shows a graph of a prior art behaviour of yaw angle control in which no hysteresis is implemented. This is not directed to the invention but shall be the basis for the ex planation of the inventive control.
  • the graph shows on the x-axis the wind direction 23, i.e. the inflow wind direction angle taken at the upstream wind tur bine 2 or 2 .
  • the y-axis shows the rotor yaw offset angle set point 40, and as this is met by the actual setting after the yaw actuating is performed, the y-axis also represents the actual rotor yaw misalignment angle 20.
  • a turning wind direction will at some point trigger a yawing to initiate wake deflec tion.
  • a positive offset is triggered and in course of a further turning wind direction the offset in creases incrementally. If the wind direction continues to change in the same direction there is the need to switch the orientation of the rotor.
  • the point CL may be a switchover angle, at which the new orientation of the yaw state takes place. This continuing the curve from left to right, the neg ative yaw angles will be set and once a fairly large negative offset is configured, further increasing angles will result in incrementally reducing yaw offset.
  • FIG. 8 shows now an exemplary graph of a behaviour of yaw an gle control according to the invention.
  • the x-axis and y-axis are the same as in FIG. 7.
  • the procedure according to FIG. 8 differs from FIG. 7 that a switchover may not happen at the "perfect" angle a but the yaw angle may continue to perform incremental changes or even no changes at all, until a first hysteresis threshold with a first switching limit 51 is reached, identified in the curve as angle b.
  • a switchover from positive to negative yaw angles take place, jumping on the graph from the positive ro tor yaw offset angle set points 44 to the negative rotor yaw offset angle set points 45.
  • the curve can be followed with incremental changes in both directions. Further increased wind direction rotation in the same direction as before would continue the curve to the right and the negative rotor yaw offset angle set points 45 would decrease in its absolute value.
  • angles b and y may be 2.5°, 5° or 10°. This may be dependent on the location of the wind park and how frequently the wind direction changes at the given location.
  • the graph shows on the y-axis shows the rotor yaw offset an gle set point 40 and positive values represent positive rotor yaw offset angle set points 44 and negative values represent negative rotor yaw offset angle set points 45, Nevertheless, as the actuator will follow the set point setting so that eventually the actual setting is identical to the set point setting, the graph can be understood to also show on the y- axis the actual rotor yaw misalignment angle 20 and positive values represent positive actual rotor yaw misalignment an gles 24 and negative values represent negative actual rotor yaw misalignment angles 25.
  • FIG. 3 and 4 represent a transition on the negative angle branch of the curve from right to left with increasing absolute an gles.
  • FIG. 5 represents that the hysteresis threshold y is reached so that a switchover to positive yaw angles occurs.
  • the new orientation according to FIG. 5 is represented by the point on the positive branch of FIG. 8, to which the arrow of switching limit 52 points.
  • the value CL in theory defines the optimal transition point and is positioned between the two switching limits b and y.
  • a pair of wind turbines is selected as a first wind turbine 2 or 2' that could have an implication on a second turbine 3 or 3' . Then a current yaw state is determined.
  • the current yaw state is simply a binary identifi er representing whether the actual rotor yaw misalignment an gle 20 is either in a range of positive yaw misalignment an gles 24 or alternatively of negative yaw misalignment angles 25. So by that the branch on the curve of FIG. 8 is selected.
  • the current yaw state can also be identical to the actual rotor yaw misalignment angle 20 of the first wind turbine 2 or 2 ' .
  • the control reflects a level of wake inducement 30 at the second wind turbine 3 or 3' caused at least by the first wind turbine 2 or 2' .
  • the level of wake inducement may be a percentage of how much of the rotor area will be negatively affected by the wake.
  • the level of wake inducement 30 may also correspond to the dis tance 31 between locations of the first wind turbine 2 or 2' and the second wind turbine 3 or 3' and/or to the wind direc tion 23.
  • the rotor yaw offset angle set point 40 for the first wind turbine 2 or 2' is defined to follow a hysteresis 50. This is based on the current yaw state, the wind condi tion - particularly the wind direction -, and the yaw angle hysteresis switching thresholds 51 and 52. Implicitly the ro tor yaw offset angle set point 40 is also controlled based on the level of wake inducement 30.
  • the yaw angle hysteresis switching thresholds 51 and 52 may itself depend on the level of wake inducement 30 as they define trigger points to reduce the current level of wake inducement.
  • a yaw actuator can be triggered to set the actual rotor yaw misa lignment angle 20 to the target value of the rotor yaw offset angle set point 40.
  • the control cycle would end and at a further point in time a next control cycle will be ini tiated according the same procedural steps.
  • FIG. 9 now illustrates the wind park control topology. This time the wind turbine 2 is shown from the side, showing the hub 62 and the nacelle 67 on top of a tower 63. A yaw actua tor 60 is abstractly shown between the nacelle 67 and the tower 63, allowing yawing about a vertical axis of the wind turbine. So an actual rotor yaw misalignment angle 20 can be configured .
  • a wind turbine controller 65 may be present for each wind turbine in the wind park.
  • the wind turbine controller 65 again will be in communication with a wind park controller 61.
  • the wind park controller 61 performs the previously discussed control method, particularly that pairs of turbines are se lected, a current yaw state for an upstream turbine is deter mined, that a level of wake inducement is determined and that a rotor yaw offset angle set point is defined under consider ation of a at least one yaw angle hysteresis switching threshold.
  • the determined rotor yaw offset angle set point can then be transmitted from the wind park controller 61 to the wind turbine controller 65, which in turn will trigger the yaw actuator 60 to perform the yawing action.
  • FIG. 10 abstractly illustrates the wind park controller 61 and its configuration with the look-up-table 66.
  • Such a look-up-table 66 may be present for each wind turbine in the wind park 1.
  • the look-up table 66 may have multiple input parameters, at least the wind direction and the current yaw state.
  • further input parameter could be used, for example wind speed, wind turbulence and/or information about the profile of the ground.
  • Output parameters may be the hysteresis threshold values and/or the rotor yaw offset angle set point.
  • FIG. 11 now shows a variant of FIG. 8, in which a curve for a behaviour of yaw angle control is shown for a selected up stream first turbine and for a wider range wind direction an gles.
  • the x-axis and y-axis are the same as in FIG. 7 or 8.
  • the procedure according to FIG. 11 differs from FIG. 8 that the upstream turbine may create a wake impact on three down stream turbines, downstream from the given upstream turbine. There may be three regions of angles - for each downstream turbine one region - in which a hysteresis can be applied to reduce the number of major yaw angle switching.
  • a first hys teresis 501 may be defined for a first downstream wind tur bine, with a theoretical "perfect" angle Oil a first hystere sis threshold with a first switching limit 511 is reached, identified in the curve as angle b ⁇ .
  • the curve section for this second downstream turbine may be different from the curve section for the first downstream turbine, particularly with different maximum amplitude and/or with different values for the switching thresholds.
  • the curve even continues such that for a third downstream turbine a third hysteresis 503 may be imple mented with its characteristic angles (X3, b3 and y3 and hys teresis switching thresholds 513 and 523.
  • the given control method may define pairs of hysteresis switching thresholds for each potential downstream wind tur bine for a given upstream turbine.
  • the above discussed solution provides a hyste resis characteristic or hysteresis behaviour when switching between negative and positive yaw angles.
  • switching a major change of angle is meant, not only incre mental changes passing through angle of zero.
  • the switchover angle for the yaw in reference to the wind direc tion may be for example +25° and the target angle set point may be -20°.
  • switching shall be an incremental transition from +0.1° via 0° to -0.1° or similar values close around 0°.
  • a hysteresis can allow to re depict the number of such switching actions.
  • a hysteresis im plementation with multiple transition angles can be imple mented.
  • a distance to the closest source for a wake can be calculated or derived.
  • a state of look-up-table se lection may be calculated as a function of the current state and the distance from the wake creating wind turbine.
  • the look-up-table may be a function that defines yaw an gles as a function of at least wind direction and possibly other parameters affecting wake deflection.
  • the hysteresis function will allow a sharp transition between positive and negative yaw angles to steer the wake away from a downstream turbine in varying wind directions but prevent ing rapidly repeating transitions between positive and nega- tive reference yaw angles, which the yaw actuator might not be able to track.
  • the curve as depicted in FIG. 8 may be optimized and derived using model-based optimization based on a wake model, using constraints on the yaw angles to keep them negative or posi tive.
  • the selection of one of the two curve branches is a function of the turbine alignment angle and a function of the current yaw state of selection. By this a hysteresis is in- troduced.

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Abstract

L'invention concerne un parc éolien, un dispositif de commande de parc éolien et un procédé de commande d'une première éolienne (2, 2') d'une pluralité d'éoliennes (2,3,4, …) d'un parc éolien (1), une seconde éolienne (3, 3') de la pluralité d'éoliennes (2,3,4, …) pouvant être affectée par une région de sillage (10) provoquée par la première éolienne (2, 2') qui est positionnée en amont de la seconde éolienne (3, 3'). Un état de lacet actuel est déterminé, en étant sélectionné parmi au moins l'un des éléments suivants : a) un angle de désalignement de lacet de rotor réel (20) de la première éolienne (2, 2'), l'angle de désalignement de lacet de rotor réel (20) étant défini comme un angle entre un axe de rotation (21) d'un rotor (22) de la première éolienne (2, 2') et une direction de vent actuelle (23) au niveau de l'axe de rotation (21) en amont de la première éolienne (2, 2'), b) un identifiant représentant si l'angle de désalignement de lacet de rotor réel (20) est soit dans une plage d'angles de désalignement de lacet positifs (24), ou soit dans une plage d'angles de désalignement de lacet négatifs (25). En outre, des conditions de vent qui sont indicatives de l'induction de sillage potentielle sur la seconde éolienne (3, 3'), telle que la direction du vent, sont déterminées. Un point de consigne d'angle de décalage de lacet de rotor (40) pour la première éolienne (2, 2') est défini, suite à une hystérésis (50) sur la base de l'état de lacet actuel, des conditions de vent et d'au moins un seuil de commutation d'hystérésis d'angle de lacet (51, 52). Il est ainsi évité une commutation consécutive immédiate entre une plage d'angles de décalage de lacet positifs et des angles de décalage de lacet négatifs.
PCT/EP2019/073860 2018-09-10 2019-09-06 Commande d'éoliennes en présence d'implications de sillage Ceased WO2020053096A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US17/273,380 US11668279B2 (en) 2018-09-10 2019-09-06 Controlling wind turbines in presence of wake implications
EP19778807.8A EP3827167B1 (fr) 2018-09-10 2019-09-06 Commande d'éoliennes en présence de sillage
CN201980074066.6A CN112955652A (zh) 2018-09-10 2019-09-06 在存在尾流影响的情况下控制风力涡轮机
DK19778807.8T DK3827167T3 (da) 2018-09-10 2019-09-06 Styring af vindmøller i tilstedeværelse af hvirvelstrømsimplikationer
KR1020217010378A KR20210054568A (ko) 2018-09-10 2019-09-06 후류 영향들의 존재 시의 풍력 터빈들의 제어
BR112021003782-9A BR112021003782A2 (pt) 2018-09-10 2019-09-06 controlador de parque eólico , método de controle, e parque eólico.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP18193507.3A EP3620649A1 (fr) 2018-09-10 2018-09-10 Commande d'éoliennes en présence de sillage
EP18193507.3 2018-09-10

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EP (2) EP3620649A1 (fr)
KR (1) KR20210054568A (fr)
CN (1) CN112955652A (fr)
BR (1) BR112021003782A2 (fr)
DK (1) DK3827167T3 (fr)
WO (1) WO2020053096A1 (fr)

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CN117150323B (zh) * 2023-06-14 2025-12-09 浙江浙能嘉兴海上风力发电有限公司 一种基于风场尾流模型的机群划分方法
CN117028150B (zh) * 2023-08-17 2024-04-19 贵州众联新能源科技有限公司 一种风力发电机组区时域化策略的偏航控制方法
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BR112021003782A2 (pt) 2021-05-18
EP3827167A1 (fr) 2021-06-02
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KR20210054568A (ko) 2021-05-13
EP3827167B1 (fr) 2022-07-27
EP3620649A1 (fr) 2020-03-11
CN112955652A (zh) 2021-06-11
US20210207580A1 (en) 2021-07-08

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